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This paper proposes a bilateral control method focusing on the stability and force estimation accuracy for a pair of two-degrees of freedom(DOF) manipulators which have different structures. Bilateral control is a method that controls position and force bidirectionally between master and slave. By using this method, operators can get haptic sensation from the remote environment during teleoperation...
To the optical mechanical complexes of tracking and positioning, strict requirements are produced on the dynamics and permissible errors under such conditions as external and internal nonstationary disturbances, as well as presence of elastic deformations in the links of the driven mechanism. In modern systems, adaptive control algorithms have proven themselves as complementary to the main control...
Series Elastic Actuator(SEA) has been emerging as a novel and potential actuator system for many robotic applications. It is well known that SEA can achieve high compliance which realizes safe interaction between humans and robots. On the other hand, precision position control has been considered difficult in SEA applications. A novel control configuration for SEA position control is proposed in this...
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force...
The use of electromechatronic positioning modules for activating industrial robot manipulator links is characterized by the fact that mechanics parameters change within a wide range at a normal operation. A well-known tendency at solution of this problem is the use of additional channels of identification and adaptation. Existing variants of regulators apply neural networks, fuzzy logic and genetic...
This paper presents a method to compute the movable range of an offshore wind turbine with a semi-submersible floating platform in still water under uniform wind field. The movable range is the set of X-Y positions of the platform where equilibria can be achieved while constraints on power, generator torque and generator speed are fulfilled. Within the computed movable range, a static feedforward...
This paper deals with the synthesis, design, and comparison of robust H-infinity (H∞) and RST position controllers of Piezoelectric Actuator Drive (PAD). The PAD is an accurate rotary piezoelectric motor that employs the elongation of stack actuators, the micro-toothed ring and the shaft to generate rotation motion. The motor position depends on precise adjustment between motor ring and shaft and...
This research aims to examine the possibility of Switched Reluctance Motor (SRM) for the application to servo system. Our previous paper proposed a position control method using measured torque curves for SRM and confirmed the usability for position control under the various load conditions. This paper confirms whether the actual position reaches the position command without overshoot and keeps stopping...
Brushless DC machines (BLDC), Permanent Magnet Synchronous Machines (PMSM), Stepping Motors and Brushed DC machines (BDC) usage is ubiquitous in the power range below 1,5kW. There is a lot of common knowledge on these technologies. Stepping Motors are ideally suited for open loop positioning, BLDC machines are the most obvious candidate for high-speed applications, etc. However, literature lacks comprehensive...
The article discusses the features of the control system of telescope axes' drive. Conventional PID control system can not reach a satisfaction tracking accuracy in the case of low speeds of axes movement due to elastic coupling and friction action in these two-mass systems. As a consequence in the systems oscillations occur. In this study, fuzzy adaptive PID controller is described and this controller...
Metallurgical industry has appreciated advantages of continuous casting machines for producing a variety of high-quality products made of steel and special alloys. Design features of horizontal continuous casting machines, makes it possible to use this type of machines on mini-plants with annual productivity lower than hundreds of thousands tons of end-products.
The AS5048 is applied in high precision and small Angle position control system of scanning mechanism in portable raster scan type spectrum analyzer with dc torque motor. This paper expounds the working principle, main features of AS5048, installation and using, and implementation method in position control. The design of permanent magnet dc torque motor position control system adopts the special...
In this paper, we present an observer based nonlinear controller using barrier Lyapunov function (BLF) for position tracking of Sawyer motor under yaw constraint. The dynamics of Sawyer motor is modified to apply BLF-based backstepping control design. To relax the matching condition, torque and force modulations are proposed. The modulations enable decoupling forces and torque of the Sawyer motor,...
Design, description and verification of two energy saving position control strategies as case study of their effect on energy consumption for the drives loaded with combined constant, linear and quadratic frictions or load torques is the main contribution of this paper. To decrease energy demands the energy optimal control strategy based on overall losses minimization is compared with the energy near-optimal...
This paper deals with the DC motor position control using second order sliding mode technique in aim to position a solar tracker front of the sun throughout the day. A short description of the studied system is introduced and the modeling of the DC motor using electrical and mechanical equations is shown. Thereafter, a comparative study using PI controller and second order sliding mode is presented...
Micro robots are suited for targeted drug delivery and micro scale manufacturing because they are small enough to navigate the passageways of the body. However, due to their small size, micro robots cannot contain onboard processing for autonomy nor onboard power. Instead they are controlled by an external signal such as a magnetic field. Because each robot can only provide a small amount of force...
This paper presents simplified design of a planar induction motor climbing an inclined steel plate. The motor set-up consists of two individually controlled linear motors firmly coupled via an aluminum frame with a drive system to provide 1-D translational and rotational motion. The motor set-up is also equipped with a position sensor to locate the mover in real time. To simplify the motor structure...
This paper presents an effective Proportional Derivative (PD) position controller of induction motor drives. A new procedure for controller design in frequency domain and the d-q synchronous rotating reference frame is presented, where the indirect vector control has been used. This position controller is validated experimentally using an industrial induction motor of 7.5 kW and an incremental encoder...
The aim of this paper is to investigate the problem of high-precision position control in Switched Reluctance Motor (SRM) drives. Proportional-differential (PD) controller and Advanced gain scheduling proportional-integral (PI) controllers are adopted for position and speed controls, respectively. The control scheme used for the SRM drive operates over a wide speed range and supports the four quadrant...
This paper presents a two-degree-of-freedom (2-DOF) direct drive motor to achieve flexible motion control. As one of the motion control methods, robust position control is significant in order to functionalize industrial robots, machine tools, medical robots, and so on. Furthermore, these requires multi-degree-of freedom motion. Then the authors have proposed 2-DOF direct drive motor, which realizes...
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